cmake_minimum_required(VERSION 3.0.2)
project(uwb_pos)

add_compile_options(-std=c++11)

find_package(catkin REQUIRED COMPONENTS
  nav_msgs
  roscpp
  rospy
  std_msgs
  tf
  nmea_msgs
  geometry_msgs
  message_generation
)

find_package(Ceres REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(Boost REQUIRED COMPONENTS system)

add_message_files(
    FILES
    LinktrackTagframe0.msg
    LinktrackNode2.msg
    LinktrackNodeframe2.msg
)

generate_messages(
  DEPENDENCIES
  std_msgs
)


###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
 INCLUDE_DIRS include
#  LIBRARIES uwb_positioning
 CATKIN_DEPENDS common_msgs nav_msgs roscpp rospy std_msgs tf tf_conversions message_runtime
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${CERES_INCLUDE_DIRS}
  $ENV{EIGEN3_INCLUDE_DIR}
  ${Boost_INCLUDE_DIRS}
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/uwb_positioning.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
add_executable(${PROJECT_NAME}_node src/loc_core.cpp src/loc_node.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
target_link_libraries(${PROJECT_NAME}_node
  ${catkin_LIBRARIES} 
  ${CERES_LIBRARIES}
  ${Boost_LIBRARIES}
)

